Self tuning universal steering control system, method, and apparatus for off-road vehicles

摘要

At least one example embodiment discloses a method of controlling steering of a vehicle. The method includes identifying a reduced-order vehicle model, the reduced-order vehicle model representing a vehicle transfer function in which a least one high-frequency pole is removed. The method further includes generating target closed loop pole locations based on at least one user preference parameter. The method further includes determining calibration parameters that place closed loop poles of a composite system at the target closed loop poles. The composite system in this context includes the reduced-order vehicle model and a steering control system. Finally, the method includes controlling the steering using the steering control system configured using the calibration parameters.

主权项

1. A method for controlling steering of a vehicle, the method comprising:
identifying a reduced-order vehicle model, the reduced-order vehicle model representing a vehicle transfer function in which at least one high-frequency pole is removed; generating target closed loop pole locations based on at least one user preference parameter; determining calibration parameters that place closed loop poles of a composite system at the target closed loop poles, the composite system including the reduced-order vehicle model and a steering control system; controlling the steering using the steering control system configured using the calibration parameters; evaluating the controlling of the steering when an implement attached to the vehicle is changed based on at least one performance criterion; and wherein the at least one performance criterion further include target standard deviations for lateral position error of the steering and heading angle error of the steering and the at least one performance criterion are satisfied if an observed settling time is less than or equal to the target settling time and an observed maximum overshoot is less than or equal to a maximum target overshoot.